Staged Training Report ✓ Complete

Run ID: shoulder_session_multiheight_decoder_only
Generated: 2026-02-24 09:33:26
Stages Completed: 1
Total Elapsed Time: 10:58:13

Configuration

No config defaults changed since last commit.

All Staged Training Parameters (60 parameters)
ParameterValue
total_samples10000000
batch_size8
stage_samples_multiplier100000000000
update_interval250
window_size100
num_best_models_to_keep1
sampling_modeLoss-weighted
loss_weight_temperature0.5
loss_weight_refresh_interval50
stop_on_divergenceTrue
divergence_gap0.002
divergence_ratio1.5
divergence_patience50
divergence_min_updates10
val_spike_threshold2.0
val_spike_window15
val_spike_frequency0.75
val_plateau_patience250
val_plateau_min_delta0.0001
custom_lr0.0001
disable_lr_scalingTrue
custom_warmup-1
lr_min_ratio0.001
resume_warmup_ratio0.05
plateau_factor0.8
plateau_patience15
preserve_optimizerFalse
preserve_schedulerTrue
samples_modeTrain additional samples
num_random_obs_to_visualize2
selected_frame_offset3
runs_per_stage5
serial_runsTrue
clean_old_checkpointsTrue
enable_baselineFalse
baseline_runs_per_stage1
run_idshoulder_session_multiheight_decoder_only
enable_wandbTrue
wandb_projectdevelopmental-robot-movement
lr_sweep.lr_min1e-07
lr_sweep.lr_max0.01
lr_sweep.phase_a_num_candidates5
lr_sweep.phase_a_seeds1
lr_sweep.phase_a_time_budget_min3.0
lr_sweep.phase_a_survivor_count2
lr_sweep.phase_b_seeds3
lr_sweep.phase_b_time_budget_min10.0
lr_sweep.ranking_metricmedian_best_val
lr_sweep.min_samples_before_timeout1000
lr_sweep.min_evals_before_stop5
lr_sweep.save_sweep_stateTrue
plateau_sweep.enabledTrue
plateau_sweep.plateau_ema_alpha0.85
plateau_sweep.plateau_improvement_threshold0.0015
plateau_sweep.plateau_patience25
plateau_sweep.cooldown_updates5
plateau_sweep.max_sweeps_per_stage2
plateau_sweep.min_sweep_improvement0.0
initial_sweep_enabledTrue
stage_time_budget_min180
World Model Architecture (config.py)
ParameterValue
AUTOENCODER_LR0.0002
BATCH_SIZE1
CANVAS_HISTORY_SIZE3
DECODER_ONLY_DEPTH10
FOCAL_BETA5
FOCAL_LOSS_ALPHA0.1
FRAME_SIZE(224, 224)
GRADIO_UPDATE_INTERVAL1
LR_MIN_RATIO0.001
MODEL_TYPEdecoder_only
PATCH_SIZE16
PERCEPTUAL_LOSS_WEIGHT0
SEPARATOR_WIDTH16
WARMUP_STEPS1000
WEIGHT_DECAY0.01

Timing Summary

Stage Plateau Sweeps Sweep Time Training Time Stage Total
Stage 1 5 01:24:03 00:14:35 01:38:39
TOTAL 5 01:24:03 00:14:35 01:38:39

Initial LR Sweep: Stage 1: selected LR 3.16e-05 in 00:15:19

Plateau Sweep Details

Total Sweeps: 5
Stages with Sweeps: 1 of 1
Total Sweep Time: 01:24:03
Average Sweep Duration: 00:16:48

Stage 1: 5 sweeps

LR Progression: 3.2e-05 → 3.2e-05 → 3.2e-05 → 3.2e-05 → 3.2e-05 → 1.8e-06

Sweep # Triggered At (samples) Wall Time Selected LR Duration
1 16,640 00:02:59 3.16e-05 00:17:02
2 42,752 00:24:40 3.16e-05 00:17:07
3 49,920 00:43:05 3.16e-05 00:15:59
4 56,576 01:00:16 3.16e-05 00:17:51
5 67,584 01:20:07 1.78e-06 00:16:03

Stage Results

Stage Best Loss Stop Reason Samples Trained Time Sweeps LR (Initial→Final)
Stage 1 0.034907 max_sweeps (2) 13,568 01:38:39 5 3.2e-05→1.8e-06

Total Plateau Sweeps: 5

Stop Reason Breakdown

Loss Across Full Training Run

Loss Detail (Post Initial Drop)

Multi-Run Statistics

Total Runs: 5
Average Best Loss: 0.041099 ± 0.005503
Best Overall: 0.034907
Worst Overall: 0.050926

Stage 1 (5 runs)

Run Best Loss Stop Reason Samples Time Selected
1 0.038307 max_sweeps (2) 6,912 02:26:54
2 0.050926 max_sweeps (2) 6,656 02:29:35
3 0.038634 max_sweeps (2) 9,728 02:11:44
4 0.034907 max_sweeps (2) 13,568 01:38:39
5 0.042724 max_sweeps (2) 12,800 01:53:34
Mean: 0.041099 ± 0.005503 Min: 0.034907 / Max: 0.050926 Range: 0.016019

Best Checkpoint

Name: best_model_auto_session_so101_multiheight_part1_1345_shoulder_session_multiheight_decoder_only_00071424_cont_val_0.034907.pth
Stage: 1
Hybrid Loss (full session): 0.047490

Learning Rate Timeline with Plateau Sweeps

Stage Progression

Stage Orig Loss Train Loss Time Samples Stop Reason
1 ⭐ 0.047490 0.034907 01:38:39 13568 max_sweeps (2)

Hybrid Loss Over Original Session (per Stage)

Stage 1 (Best) - Hybrid Loss: 0.047490

Sample Counts

Cumulative Across All Stages

Per Stage

Stage 1 (Best) - Total Samples: 13,568

Best Checkpoint Inference

Selected Frame 3

Action 0

Action 1

Action 2

Random Observations

Observation 104

Action 0
Action 1
Action 2

Observation 658

Action 0
Action 1
Action 2